CN218453316U

CN218453316U - Large-carrying independent suspension structure

Info

Publication number: CN218453316U
Application number: CN202222462258.6U
Authority: CN
Inventors: 陈银; 刘乐顺; 郭发勇; 骆敏舟
Original assignee: Changzhou Longyuan Intelligent Robot Technology Co ltd
Current assignee: Changzhou Longyuan Intelligent Robot Technology Co ltd
Priority date: 2022-09-17
Filing date: 2022-09-17
Publication date: 2023-02-07
Anticipated expiration: 2032-09-17

Abstract

The utility model discloses a big delivery independent suspension structure. The utility model relates to an unmanned vehicles chassis suspension technical field solves current unmanned vehicles chassis suspended structure, and the space that needs to occupy on the chassis is great, arranges the degree of difficulty great on the less electronic unmanned vehicles chassis of size, installs inconvenient problem. This independent suspended structure of big carrier includes: the hub motor suspension structure comprises a hub motor suspension structure and a chassis; wheel hub motor suspended structure installs the left and right both ends on the chassis, and wheel hub motor suspended structure includes: the device comprises a driving wheel, an oil-free graphite copper sleeve, a belleville spring, a fixed shaft, a suspension fixing plate, a connecting plate, a swing arm, a tension spring, an adjusting slide block, an adjusting bolt and a hub motor; the utility model discloses an independent suspended structure of big delivery, the mode setting that adopts independent suspension based on in-wheel motor's drive wheel realizes simplifying the chassis structure and reduces the chassis size, simple structure, simple to operate.

Description

Large-carrying independent suspension structure

Technical Field

The utility model relates to an unmanned vehicles chassis suspension technical field, concretely relates to big delivery independent suspended structure.

Background

The suspension system of the unmanned vehicle chassis is a general name of all force transmission connecting devices between a vehicle frame and an axle or a wheel, and the suspension mainly has the functions of transmitting all forces and moments acting between the wheel and a vehicle body, such as supporting force, braking force, driving force and the like, relieving impact load transmitted to the vehicle body from an uneven road surface, attenuating vibration caused by the impact load and ensuring stability.

The existing unmanned vehicle chassis usually adopts a speed reduction motor power unit consisting of a direct current motor, a speed reducer, a braking device and unpowered wheels, wherein the direct current motor, the speed reducer and the like are arranged on the chassis, the occupied space on the chassis is large, the difficulty of arrangement on the electric unmanned vehicle chassis with small size is large, and the installation is inconvenient. Therefore, it is necessary to provide a large carrying independent suspension structure to solve the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model provides a carry independent suspended structure greatly to solve current unmanned vehicles chassis suspended structure, the space that needs to occupy on the chassis is great, arranges the degree of difficulty great on the less electronic unmanned vehicles chassis of size, installs inconvenient problem.

The utility model provides a big independent suspended structure of delivery, include: a hub motor suspension structure and a chassis; the in-wheel motor suspended structure install the left and right both ends on chassis, the in-wheel motor suspended structure includes: the device comprises a driving wheel, an oil-free graphite copper sleeve, a belleville spring, a fixed shaft, a suspension fixed plate, a connecting plate, a swing arm, a tension spring, an adjusting slide block, an adjusting bolt and a hub motor;

the connecting plate is fixedly arranged on the lower surface of the chassis, the suspension fixing plate is fixedly arranged on the connecting plate, and the fixing shaft is arranged below the suspension fixing plate; the driving wheel is positioned in the center of the connecting plate, and the hub motor is arranged inside the driving wheel; the middle part of the swing arm is rotatably connected to the fixed shaft, the inner side of the hub motor is connected with one end of the swing arm, and the other end of the swing arm is connected with one end of the tension spring; the oilless graphite copper sleeve is sleeved on the fixed shaft and positioned between the swing arm and the fixed shaft, and the belleville spring is sleeved on the fixed shaft and positioned at one end of the oilless graphite copper sleeve; the other end of the tension spring is connected with the left end of the adjusting slide block, and the right end of the adjusting slide block is connected with the adjusting bolt; the adjusting bolt is arranged in the fixing block above the end part of the suspension fixing plate in a left-right adjustable mode, and the adjusting slide block is connected with the suspension fixing plate in a sliding mode.

Further, the chassis is circular, and bank involving wheels are respectively arranged below the front end and the rear end of the chassis.

Furthermore, a rubber shock absorber is arranged at the upper end of the wading bucket wheel.

Furthermore, four double-row lead screw universal wheels which are distributed in a rectangular mode are arranged below the chassis, and the double-row lead screw universal wheels are located in an area between the two bucket-related wheels and the two hub motor suspension structures.

Further, the swing arm is L-shaped.

The utility model discloses the beneficial effect who produces as follows: the utility model provides a big delivery independent suspension structure, the driving wheel based on in-wheel motor adopts the mode setting of independent suspension, need not to arrange structures such as direct current motor, speed reducer on the chassis, has reduced the space that needs to occupy on the chassis, realizes simplifying chassis structure and reducing chassis size, simple structure, simple to operate can strengthen the road conditions adaptability of chassis; the tension spring is stretched by adjusting the adjusting bolt, so that the hub motor can swing downwards around the fixed shaft, corresponding pre-pressure is provided for the hub motor, and the transportation stability is improved; the oilless graphite copper sleeve is arranged, so that the friction abnormal sound of the hub motor during working is reduced, and the flexibility of the swing arm is improved; the butterfly spring is arranged to effectively control the axial deviation of the structure during movement; in addition, the unmanned vehicle chassis is composed of double-row lead screw universal wheels and bucket-involving wheels, the bucket-involving wheels are respectively arranged at the front and the back of the chassis, four double-row lead screw universal wheels are arranged around the chassis, and driving wheels at two sides adopt a hub motor suspension structure, so that the whole stress is reasonable, and the structure is stable and reliable; double rows of lead screw universal wheels are arranged, the bearing capacity of a single wheel is increased by the double rows of wheels, and the stability of the steering chassis is improved; the horizontality of the whole chassis can be improved by the screw rod fixing mode; the bucket-wading wheels are arranged, when the chassis meets a boss or a groove in the moving process, the bucket-wading wheels are firstly contacted, the rubber shock absorber reduces impact force when the bucket is waded, the safety of carried goods is effectively improved, and the adaptability of the chassis to roads is improved; the four double-row lead screw universal wheels are arranged, so that the carrying capacity of the chassis is greatly improved, and the chassis cannot be eccentric due to carried objects, turn over and deviate during movement; the hub motor is independently suspended, and the carrying capacity can be improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a top view of a chassis structure of a large carrying independent suspension structure provided by the present invention;

fig. 2 is a wheel hub motor suspension structure of a large carrying independent suspension structure provided by the present invention;

fig. 3 is a schematic view of an oil-free graphite copper sleeve and a butterfly spring in the wheel hub motor suspension structure of the large-carrying independent suspension structure provided by the utility model;

fig. 4 is a front view of the overall structure layout of the chassis of the unmanned vehicle with the large carrying independent suspension structure provided by the utility model;

fig. 5 is the utility model provides a pair of big independent suspended structure unmanned aerial vehicle chassis overall structure overall arrangement side view of delivery.

Illustration of the drawings: 1-double-row lead screw universal wheel, 2-bucket wheel, 3-rubber shock absorber, 4-driving wheel, 5-oilless graphite copper sleeve, 6-belleville spring, 7-fixed shaft, 8-suspension fixed plate, 9-connecting plate, 10-swing arm, 11-tension spring, 12-adjusting slide block, 13-adjusting bolt, 14-hub motor, 15-hub motor suspension structure and 16-chassis.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

For ease of description, spatially relative terms such as "over 8230," "upper surface," "above," and the like may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary terms "at 8230; \8230; above" may include both orientations "at 8230; \8230; above" and "at 8230; \8230; below". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to only the embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art, and in the drawings, the thicknesses of layers and regions are exaggerated for clarity and the same devices are denoted by the same reference numerals, and thus the description thereof will be omitted.

Referring to fig. 1 to 5, an embodiment of the present invention provides a large carrying independent suspension structure, including: a hub motor suspension 15 and a chassis 16; wheel hub motor suspended structure 15 installs the left and right both ends at chassis 16, and wheel hub motor suspended structure 15 includes: the device comprises a driving wheel 4, an oil-free graphite copper sleeve 5, a belleville spring 6, a fixed shaft 7, a suspension fixing plate 8, a connecting plate 9, a swing arm 10, a tension spring 11, an adjusting slide block 12, an adjusting bolt 13 and a hub motor 14.

Wherein, connecting plate 9 is fixed mounting in the lower surface of chassis 16, hangs fixed plate 8 fixed mounting on connecting plate 9, and fixed axle 7 sets up in hanging fixed plate 8 below. The driving wheel 4 is positioned at the center of the connecting plate 9, and the hub motor 14 is arranged inside the driving wheel 4. The swing arm 10 is L-shaped, the middle part of the swing arm 10 is rotatably connected to the fixed shaft 7, the inner side of the hub motor 14 is connected with one end of the swing arm 10, and the other end of the swing arm 10 is connected with one end of the tension spring 11. The oilless graphite copper bush 5 is sleeved on the fixing shaft 7 and located between the swing arm 10 and the fixing shaft 7, the belleville spring 6 is sleeved on the fixing shaft 7 and located at one end of the oilless graphite copper bush 5, and the outer side of the belleville spring 6 leans against a shaft shoulder of the fixing shaft 7. The adoption does not have the friction abnormal sound of oil graphite copper sheathing 5 reducible wheel hub motor during operation, improves the swing arm 10 flexibility. And the axial deviation is effectively controlled by the belleville spring 6 when the structure moves, the structure is simple, and the installation is convenient.

The other end of the tension spring 11 is connected with the left end of the adjusting slide block 12, and the right end of the adjusting slide block 12 is connected with an adjusting bolt 13; adjusting bolt 13 can set up in the fixed block of hanging fixed plate 8 tip top with adjusting from left to right, adjusting bolt 13 and fixed block threaded connection, adjusting bolt 13 and the right-hand member of adjusting slide 12 are rotated and are connected. The bottom of the adjusting slide block 12 is connected with the suspension fixing plate 8 in a sliding mode, the adjusting bolt 13 can be rotated to adjust the extending length of the left end of the adjusting bolt 13, the adjusting slide block 12 is pulled to slide rightwards after the adjusting bolt 13 retracts rightwards, the adjusting slide block 12 pulls the tension spring 11 rightwards, the tension spring 11 pulls the swing arm 10 to rotate clockwise by taking the fixing shaft 7 as a shaft, and finally the hub motor 14 swings downwards around the fixing shaft to provide corresponding pre-pressure for the hub motor.

In this embodiment, the chassis 16 is circular, and the wad wheels 2 are respectively installed at the front end and the rear end of the bottom of the chassis 16. Wade the upper end of bank wheel 2 and be equipped with rubber shock absorber 3, rubber shock absorber 3 is used for alleviateing wad the impact force when wading bank wheel 2 wades the bank. Four double lead screw universal wheels 1 are installed around the chassis 16, the four double lead screw universal wheels 1 are distributed in a rectangular mode, the double lead screw universal wheels 1 are located in two regions between the two bucket wheels 2 and the two in-wheel motor suspension structures 15, four double lead screw universal wheels 1 are arranged around the two bucket wheels, the carrying capacity of the chassis can be improved, the chassis cannot be eccentric due to carrying objects, and therefore the chassis cannot be deviated when the chassis turns on the side and moves.

According to the above embodiment, the utility model provides a pair of carry independent suspended structure greatly, the mode setting that adopts independent suspension based on in-wheel motor's drive wheel need not to arrange DC motor, speed reducer isotructure on the chassis, has reduced the space that needs to occupy on the chassis, realizes simplifying the chassis structure and reduces the chassis size, simple structure, and simple to operate can strengthen the road conditions adaptability on chassis. The tension spring 11 can be stretched by adjusting the adjusting bolt 13, so that the hub motor 14 swings downwards around the fixed shaft 7, corresponding pre-pressure is provided for the hub motor 14, and the transportation stability is improved; the oilless graphite copper sleeve 5 is arranged, so that the friction abnormal sound of the hub motor during working is reduced, and the flexibility of the swing arm is improved; the butterfly spring 6 is arranged to effectively control the axial deviation of the structure during movement.

In addition, in the moving process of the unmanned vehicle, when encountering a boss or a groove, the threshold-related wheel 2 firstly contacts the boss or the groove, and the rubber shock absorber 3 reduces impact force when involving the threshold, so that the safety of carried objects is effectively improved, and the adaptability of the chassis 16 to roads is improved. Four double-row lead screw universal wheels 1 are arranged around the chassis 16, so that the carrying capacity of the chassis 16 is greatly improved, and the chassis 16 cannot be turned over and deviated during movement due to eccentricity of a carrying object. The hub motor 14 is independently suspended, so that the carrying capacity can be improved. The driving wheels 4 on the two sides adopt the hub motor suspension structure 15, so that the whole body is reasonably stressed, the rigidity of the chassis is improved, and the self weight is favorably reduced.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the accompanying drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A large capacity independent suspension structure, comprising: a hub motor suspension structure (15) and a chassis (16); in-wheel motor suspended structure (15) are installed the left and right both ends of chassis (16), in-wheel motor suspended structure (15) include: the device comprises a driving wheel (4), an oil-free graphite copper sleeve (5), a belleville spring (6), a fixed shaft (7), a suspension fixing plate (8), a connecting plate (9), a swing arm (10), a tension spring (11), an adjusting slide block (12), an adjusting bolt (13) and a hub motor (14);

the connecting plate (9) is fixedly arranged on the lower surface of the chassis (16), the suspension fixing plate (8) is fixedly arranged on the connecting plate (9), and the fixing shaft (7) is arranged below the suspension fixing plate (8); the driving wheel (4) is positioned at the center of the connecting plate (9), and the hub motor (14) is arranged inside the driving wheel (4); the middle part of the swing arm (10) is rotatably connected to the fixed shaft (7), the inner side of the hub motor (14) is connected with one end of the swing arm (10), and the other end of the swing arm (10) is connected with one end of the tension spring (11); the oilless graphite copper sleeve (5) is sleeved on the fixed shaft (7) and is positioned between the swing arm (10) and the fixed shaft (7), and the belleville spring (6) is sleeved on the fixed shaft (7) and is positioned at one end of the oilless graphite copper sleeve (5); the other end of the tension spring (11) is connected with the left end of an adjusting slide block (12), and the right end of the adjusting slide block (12) is connected with the adjusting bolt (13); the adjusting bolt (13) is arranged in the fixing block above the end part of the suspension fixing plate (8) in a left-right adjustable mode, and the adjusting slide block (12) is connected with the suspension fixing plate (8) in a sliding mode.

2. A large carrier independent suspension structure according to claim 1, characterized in that the chassis (16) is circular, and the wading wheels (2) are respectively arranged under the front and rear ends of the chassis (16).

3. A large carrier independent suspension structure according to claim 2, characterized in that the upper end of the wad wheel (2) is provided with a rubber damper (3).

4. A large carrier independent suspension structure according to claim 3, characterized in that four double-row lead screw universal wheels (1) are arranged in a rectangular distribution below the chassis (16), and the double-row lead screw universal wheels (1) are located in the area between the two wadding wheels (2) and the two in-wheel motor suspension structures (15).

5. A large carrier independent suspension according to claim 4, characterized in that the swing arm (10) is L-shaped.